提出一种分段式位姿测量方法和系统的实现方案。利用柱面镜线阵相机的成像方程为远段图像测量子系统构建线性三维坐标测量模型,并利用最小化物方空间误差方法标定各线阵相机的外部参数。针对近段图像测量子系统的单目位姿测量问题,提出一种基于线性初始解的迭代位姿优化方法。实验结果表明,在5~35 m的视距变化范围内,系统可实现小于0.5%的相对位置测量精度和低于40 mm的方均根误差;在5 m以内的视距范围内,可实现小于1°的姿态测量误差,能够满足大视距位姿测量的任务需求。

In this study, we presented the scheme of a segmented pose measuring system as well as its implementation. Further, we presented a linear three-dimensional coordinate measurement model for a far-segmented measuring subsystem by applying an imaging equation of the line cameras equipped with cylindrical lenses and calibrated the extrinsic parameters of each line camera by minimizing the object space errors. We proposed an iterative pose optimization method based on a linear initial solution to solve the problems related to monocular pose determination for a near-segmented measuring subsystem. The experimental results demonstrate that the proposed system can achieve a relative position measurement accuracy of less than 0.5% and a root mean square error of less than 40 mm in the vision range of 5-35 m. Moreover, the system can realize an attitude tracking accuracy of less than 1° in the vision range within 5 m, satisfying the large vision range requirement of pose measurement.